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Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

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Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

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dc.contributor.author García-Fernández, Alberto es_ES
dc.contributor.author Girbés, Vicent es_ES
dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Perez-Vidal, Carlos es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2021-07-03T03:31:03Z
dc.date.available 2021-07-03T03:31:03Z
dc.date.issued 2020 es_ES
dc.identifier.uri http://hdl.handle.net/10251/168719
dc.description.abstract [EN] This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the obot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses a task prioritization framework and three types of controllers: an admittance controller for the tool guidance; a hybrid controller to modify the tool orientation and, in the automatic mode, the tool position; and a sliding mode controller to limit the velocity at which the tool approaches the object surface. The applicability and efficacy of the proposed method is demonstrated experimentally using a conventional 6R robot arm. es_ES
dc.description.sponsorship This work was supported in part by the Spanish Government, and in part by the Generalitat Valenciana under Grant DPI2017-87656-C2-1-R and Grant ACIF/2019/007. es_ES
dc.language Inglés es_ES
dc.publisher Institute of Electrical and Electronics Engineers es_ES
dc.relation.ispartof IEEE Access es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Cooperative sanding es_ES
dc.subject Robot cooperation es_ES
dc.subject Vision system es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1109/ACCESS.2020.3014501 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//AEST%2F2019%2F010/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//ACIF%2F2019%2F007/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada es_ES
dc.description.bibliographicCitation García-Fernández, A.; Girbés, V.; Solanes Galbis, JE.; Gracia Calandin, LI.; Perez-Vidal, C.; Tornero Montserrat, J. (2020). Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes. IEEE Access. 8:154024-154035. https://doi.org/10.1109/ACCESS.2020.3014501 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1109/ACCESS.2020.3014501 es_ES
dc.description.upvformatpinicio 154024 es_ES
dc.description.upvformatpfin 154035 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 8 es_ES
dc.identifier.eissn 2169-3536 es_ES
dc.relation.pasarela S\417308 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder UNIVERSIDAD POLITECNICA DE VALENCIA es_ES


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